Hello everyone,
I was wondering if it is possible to read somewhere programmatically (e.g. in a system variable) the current disturbance torque on robot axes?
Or maybe just read somewhere if i am in SRVO-053 Disturbance excess condition?
Thanks
Detecting Collisions
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inusO -
June 12, 2018 at 8:39 AM -
Thread is Resolved
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Check: $MISC[1].$HPD_TRQ[n], where n is axis number. Also $MISC_MSTR.$HPD_ENB must be set to TRUE, and power cycle after that.
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You can also use these variables to backdoor the CLSKP (Collision Skip, now known as 'Touch Skip') option without getting the PAC (Only $550, but if you're in a jam and need to figure it out asap without waiting for FANUC). But, on newer 8.1 and higher software, it won't work.
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